Robot cross-region control method and device based on visual beacon, visual beacon and robot

Abstract

The invention relates to a robot cross-region control method and device based on a visual beacon, the visual beacon and a robot. The method comprises the following steps that S1, when a cross-region instruction is received, an initial beacon corresponding to a current working region is obtained according to visual detection information, and a robot is driven to start to move according to the initial beacon; wherein the starting beacon is used for indicating the position and direction of the robot leaving the current working area; s2, in the moving process of the robot, an end point beacon corresponding to the target working area is obtained according to the visual detection information, and the robot enters the target working area according to the end point beacon; wherein the terminal beacon is used for indicating the position and direction of the robot entering the target working area. By implementing the method, the position relationship between the robot and the beacon can be accurately obtained, accurate control of the robot in the cross-region process is realized, and the cross-region success rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a robot cross-zone control method and device based on visual beacons, a visual beacon and a robot. Background Art

[0002] When the robot performs tasks, in many cases, when building a work map based on the robot's work tasks, it is not possible to directly form a complete map. There may be work zones based on different work tasks. For example, when a mowing robot is working, it is necessary to control the mowing robot to switch from one lawn area to another lawn area to perform mowing tasks. There may be gravel, sand, cement, bricks, etc. between the lawns of two areas. Due to the diversity and complexity of the scenes, using vision to identify the above scenes one by one and then cross the area may not be very effective. Therefore, beacons are often needed to cross the area.

[0003] Currently, the most commonly used cross-area beacon is radio frequency identification (RFID), that is, an RFID beacon with an RFID circuit is installed on the lawn at the edge of the aisle, and the robot switches from one lawn area to another lawn area by identifying the radio frequency signal generated by the RFID circuit. However, based on the RFID beacon, only the approximate position of the robot and the RFID beacon can be obtained during the identification process, and the distance and the relative position relationship between the robot and the beacon cannot be quantified; at the same time, the maintenance cost of the RFID beacon is relatively high, and the corresponding RFID equipment needs to be set up. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a robot cross-zone control method, device, visual beacon and robot based on visual beacon in response to the above-mentioned defects of the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is: constructing a robot cross-area control method based on visual beacons, the method comprising the following steps:

[0006] S1. When receiving a cross-area instruction, obtain a starting beacon corresponding to the current working area according to visual detection information, and drive the robot to start moving according to the starting beacon; wherein the starting beacon is used to indicate the position and direction of the robot leaving the current working area;

[0007] S2. During the movement of the robot, an end point beacon corresponding to a target working area is obtained according to visual detection information, and the target working area is entered according to the end point beacon; wherein the end point beacon is used to indicate the position and direction of the robot entering the target working area.

[0008] Preferably, in the embodiment of the robot cross-area control method described in the present invention, the starting beacon is provided with first pattern information corresponding to the current working area, and the obtaining the starting beacon corresponding to the current working area according to the visual detection information includes: obtaining the starting beacon corresponding to the current working area according to the first pattern information; and / or

[0009] The target beacon is provided with second pattern information corresponding to the target working area, and acquiring the endpoint beacon corresponding to the target working area according to the visual detection information includes: acquiring the endpoint beacon corresponding to the target working area according to the second pattern information.

[0010] Preferably, in the embodiment of the robot cross-zone control method of the present invention, the step of driving the robot to start moving according to the start beacon includes:

[0011] The positional relationship between the robot and the starting beacon is acquired according to the third pattern information set on the starting beacon, and the robot is adjusted so that the robot passes through the starting beacon at a preset target angle.

[0012] Preferably, in the embodiment of the robot cross-area control method of the present invention, the step of entering the target working area according to the endpoint beacon includes:

[0013] The positional relationship between the robot and the endpoint beacon is acquired according to fourth pattern information set on the endpoint beacon, and the robot is adjusted so that the robot passes through the endpoint beacon at a second preset target angle.

[0014] Preferably, in the embodiment of the robot cross-area control method of the present invention, the third pattern information includes a first area and a second area having different patterns;

[0015] The step of obtaining the positional relationship between the robot and the starting beacon according to the third pattern information set on the starting beacon includes:

[0016] Acquire a boundary line between the first area and the second area, and acquire an initial angle deviation of the robot relative to the starting beacon according to the current moving direction of the robot and the boundary line;

[0017] The positional relationships between the first area and the second area and the robot are respectively acquired, so as to confirm a final angular deviation of the robot relative to the starting beacon according to the acquired positional relationship and the initial angular deviation.

[0018] Preferably, in the embodiment of the robot cross-area control method of the present invention, the fourth pattern information includes a third area and a fourth area with different patterns;

[0019] The step of obtaining the positional relationship between the robot and the endpoint beacon according to the fourth pattern information set on the endpoint beacon includes:

[0020] Acquire a boundary line between the third area and the fourth area, and acquire an initial angle deviation of the robot relative to the end point beacon according to the current moving direction of the robot and the boundary line;

[0021] The positional relationships between the third area and the fourth area and the robot are respectively acquired, so as to confirm a final angular deviation of the robot relative to the end point beacon according to the acquired positional relationships and the initial angular deviation.

[0022] Preferably, in the embodiment of the robot cross-area control method of the present invention, when an intermediate beacon is provided between the current working area and the target working area, the method further comprises:

[0023] S11. During the movement of the robot, the intermediate beacons are identified in sequence according to the visual detection information, so as to adjust the movement direction of the robot according to the intermediate beacons, and the step S2 is executed.

[0024] Preferably, in the embodiment of the robot cross-zone control method of the present invention, the method further comprises:

[0025] An intermediate working area corresponding to the current working area and the target working area is obtained, and the intermediate beacon is obtained according to the starting beacon and the ending beacon corresponding to the intermediate working area, so that the robot passes through the ending beacon and the starting beacon corresponding to the intermediate working area in sequence.

[0026] The present invention also constructs a robot cross-zone control device, which includes: a module for executing the method described above.

[0027] The present invention also constructs a robot, comprising a memory and a processor;

[0028] The memory is used to store computer programs;

[0029] The processor is configured to execute the computer program to implement the method described above.

[0030] The present invention also constructs a visual beacon, the visual beacon comprising:

[0031] First visual information for indicating a working area corresponding to the robot;

[0032] The second visual information is used to indicate the corresponding moving direction of the robot.

[0033] In the visual beacon of the present invention, the visual beacon comprises a first visual area and a second visual area provided with different patterns;

[0034] The visual beacon forms the first visual information through pattern information of the first visual area, and forms the second visual information through a boundary line between the first visual area and the second visual area.

[0035] The implementation of the robot cross-zone control method, device, visual beacon and robot based on visual beacon of the present invention has the following beneficial effects: the positional relationship between the robot and the beacon can be accurately obtained, accurate control of the robot during the cross-zone process can be achieved, and the success rate of the cross-zone can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0037] Figure 1 It is a program flow chart of an embodiment of a robot cross-area control method based on visual beacons of the present invention;

[0038] Figure 2 is with Figure 1 A schematic diagram of robot movement corresponding to an embodiment;

[0039] Figure 3 is a schematic diagram of an embodiment of a visual beacon in the present invention;

[0040] Figure 4 is a schematic diagram of multiple embodiments of the visual beacon of the present invention;

[0041] Figure 5 It is a schematic diagram of beacon angles of an embodiment of a robot cross-area control method based on visual beacons of the present invention;

[0042] Figure 6 It is a program flow chart of another embodiment of a robot cross-area control method based on visual beacons of the present invention;

[0043] Figure 7 is with Figure 6 A schematic diagram of robot movement corresponding to an embodiment;

[0044] Figure 8 is with Figure 7 A corresponding schematic diagram of robot movement in another embodiment. DETAILED DESCRIPTION

[0045] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0046] like Figure 1FIG. 1 shows an embodiment of a robot cross-area control method based on visual beacons of the present invention. Figure 1 In the embodiment of a robot cross-zone control method based on visual beacons of the present invention shown, the following steps are included: S1. When receiving a cross-zone instruction, a starting beacon corresponding to the current working area is obtained according to visual detection information, and the robot is driven to start moving according to the starting beacon; wherein the starting beacon is used to indicate the position and direction of the robot leaving the current working area; S2. During the movement of the robot, an end point beacon corresponding to the target working area is obtained according to visual detection information, and the target working area is entered according to the end point beacon; wherein the end point beacon is used to indicate the position and direction of the robot entering the target working area.

[0047] according to Figure 2 As shown, based on the above step S1, the cross-area action of the robot needs to be triggered by a corresponding instruction. When the robot is in the current working area 110, it can be triggered to enter the cross-area working state according to the received cross-area instruction. Among them, the cross-area instruction includes but is not limited to being issued by a server or a user terminal. In one scenario, it can also be triggered by a timed trigger or a key signal related to a hardware circuit. In another scenario, it can also be triggered as a sub-instruction according to the specific working instruction of the robot. For example, when the robot performs a mapping operation according to the mapping instruction, the cross-area instruction will be automatically triggered during the mapping process, or after the robot completes the work in the current area, it will automatically trigger the cross-area instruction according to the set work instruction to perform cross-area work. When the robot is triggered to enter the cross-area working state, it can perform visual detection according to the visual detection device set at the corresponding position of the robot to obtain visual detection information corresponding to the surrounding environment. According to the visual detection information, a starting beacon 210 corresponding to the current working area is obtained. Among them, the starting beacon 210 is a visual beacon with a specific visual feature. In the visual detection process, it is determined whether the starting beacon 210 is detected based on whether the visual feature is included in the acquired visual detection information. It is understood that the start beacon 210 is set at a preset position in the current working area 110 to identify the position and direction of the robot leaving the current working area when crossing the area. It is understood that only after the start beacon 210 is identified, the robot will be controlled to move according to the instruction information of the start beacon 210 to leave the current working area 110.

[0048] Based on the above step S2, after the robot leaves the current working area 110, during the movement of the robot, visual detection continues to be performed to obtain visual detection information corresponding to the surrounding environment. According to the visual detection information, the end point beacon 221 corresponding to the target working area 120 is obtained. Among them, the end point beacon 220 is also a visual beacon, which has a specific visual feature. In the visual detection process, it is determined whether the end point beacon 220 is detected according to whether the visual feature is included in the obtained visual detection information. It can be understood that the end point beacon 220 is set at a preset position in the target working area 120 to identify the position and direction of the robot entering the target working area 120 when crossing the area. It can be understood that only after the target beacon is identified, it will be determined that the destination to be crossed is found, and the controller robot moves according to the indication information of the end point beacon 220 to enter the target working area 120, and finally completes the entire cross-area action.

[0049] Optionally, in the robot cross-area control method of the embodiment of the present invention, the starting beacon is provided with first pattern information corresponding to the current working area, and the obtaining of the starting beacon corresponding to the current working area according to the visual detection information includes: obtaining the starting beacon corresponding to the current working area according to the first pattern information. That is, in the above step S1, during the detection of the starting beacon, a judgment can be made based on the first pattern information set on the starting beacon. That is, the starting beacon body is provided with first pattern information containing preset characteristic information, and the corresponding relationship between the starting beacon and the current working area is established through the preset characteristic information. During the movement of the robot, it is determined whether the obtained visual detection information contains the preset characteristic information corresponding to the first pattern information to determine whether the corresponding starting beacon is recognized. Figure 3 As shown in FIG. 1 , it is a schematic diagram of a starting beacon, and the required first pattern information can be obtained through the display pattern of the pattern setting area Q1 in the table.

[0050] Optionally, in the robot cross-area control method of the embodiment of the present invention, the target beacon is provided with second pattern information corresponding to the target working area, and the obtaining of the destination beacon corresponding to the target working area according to the visual detection information includes: obtaining the destination beacon corresponding to the target working area according to the second pattern information. That is, in the above step S2, during the detection of the destination beacon, a judgment can be made based on the second pattern information set on the destination beacon. That is, the destination beacon body is provided with second pattern information containing preset characteristic information, and the correspondence between the destination beacon and the target working area is established through the preset characteristic information. During the movement of the robot, it is determined whether the obtained visual detection information contains the preset characteristic information corresponding to the second pattern information to determine whether the corresponding destination beacon is recognized. Figure 3As shown in FIG. 1 , it is a schematic diagram of an endpoint beacon, and the required second pattern information can be obtained through the display pattern of the pattern setting area Q1 in the table.

[0051] It is understood that the preset characteristic information corresponding to the start beacon and the end beacon is different, so that the start beacon and the end beacon in the cross-zone process can be accurately distinguished. It is understood that based on different preset characteristic information, the first pattern information and the second pattern information corresponding to the start beacon and the end beacon must also be different. Among them, it is understood that the first pattern information and the second pattern information may have certain similarities, but there must be differences. For example, they can respectively contain patterns, squares, stripes, curves, etc. with the same color but different shapes. Figure 4 As shown, several schematic diagrams of start beacons or end beacons are provided, and the content of the specific patterns is not limited.

[0052] Optionally, in the robot cross-area control method of an embodiment of the present invention, the driving the robot to start moving according to the starting beacon includes: obtaining the positional relationship between the robot and the starting beacon according to the third pattern information set on the starting beacon, and adjusting the robot so that the robot passes through the starting beacon at a preset target angle. Specifically, because the position of the starting beacon recognized by the robot cannot be fixed, that is, the robot can recognize the starting beacon at any possible position, the current position of the robot is uncertain. When the position of the robot cannot be determined, the robot cannot directly leave the current working area through the starting beacon. Once leaving the current working area, there may be a situation where the moving direction or moving path is completely wrong and the target working area cannot be reached. Therefore, after recognizing the starting beacon, it is also necessary to confirm the positional relationship between the robot and the starting beacon according to the third pattern information on the starting beacon. For example, the direction indicated by the starting beacon for the robot to pass through the starting beacon should be directly in front of the starting beacon reference point, such as the zero degree direction. However, at this time, there is a certain angle between the moving direction of the robot and the direction indicated by the starting beacon. In this case, the moving direction of the robot needs to be adjusted so that the moving direction of the robot is consistent with the direction indicated by the starting beacon. At the same time, the moving path of the robot is adjusted when necessary so that the robot passes through the starting beacon and leaves the current working area during the movement. The robot passing through the starting beacon includes but is not limited to the robot body passing through the starting beacon.

[0053] Optionally, the third pattern information includes a first area and a second area with different patterns; the obtaining of the positional relationship between the robot and the starting beacon based on the third pattern information set on the starting beacon includes: obtaining a boundary line between the first area and the second area, and obtaining an initial angle deviation of the robot relative to the starting beacon based on the current moving direction of the robot and the boundary line; respectively obtaining the positional relationship between the first area and the second area and the robot, so as to confirm the final angle deviation of the robot relative to the starting beacon based on the obtained positional relationship and the initial angle deviation. Specifically, in the process of identifying the positional relationship between the robot and the starting beacon, the distance between the robot and the starting beacon and the angle deviation between the current moving direction of the robot and the direction indicated by the starting beacon can be obtained respectively. In a specific embodiment, the angle deviation can be obtained based on the angle between the boundary line between the first area and the second area and the moving direction of the robot in the third pattern information. Figure 5 As shown, the various recognition angles given include but are not limited to the direction of movement of the robot perpendicular to the dividing line as the indication direction of the starting beacon. When the moving direction of the robot is not perpendicular to the dividing line, it can be considered that the moving direction of the robot does not correspond to the indication direction of the starting beacon, and the moving direction of the robot needs to be adjusted. In the specific adjustment process, it includes but is not limited to obtaining the angle deviation, adjusting the moving direction of the robot according to the angle deviation, so that the moving direction of the robot is perpendicular to the dividing line. In addition, in the process of adjusting the moving direction of the robot, there may be two relative moving directions perpendicular to the dividing line. That is, the initial angle deviation of the robot relative to the starting beacon is not accurate, and it is also necessary to confirm the positional relationship between the first area and the second area and the robot to obtain the final angle deviation of the robot's moving direction relative to the starting beacon. For example, it is defined that when the first area is close to the robot, the moving direction of the robot perpendicular to the dividing line is the indication direction of the starting beacon. When the second area is close to the robot, even if the moving direction of the robot is perpendicular to the dividing line, the moving direction of the robot is still wrong. At this time, it is necessary to adjust 180 degrees so that the moving direction of the robot when it is close to the first area corresponds to the indication direction of the starting beacon. In another embodiment, when the moving direction of the robot is parallel to the dividing line, there are still two relative moving directions, which can be confirmed multiple times during the adjustment process. It can also be determined by the positional relationship between the first area and the second area and the robot. For example, the angle deviation when the first area is on the left side of the moving direction of the robot is used as the final angle deviation. When the first area is on the right side of the moving direction of the robot, 360 degrees minus the angle deviation is required to be the final deviation of the moving direction of the robot, and the direction is adjusted according to this angle.

[0054] Optionally, in the robot cross-area control method of the embodiment of the present invention, the entering the target working area according to the end point beacon includes: obtaining the positional relationship between the robot and the end point beacon according to the fourth pattern information set on the end point beacon, and adjusting the robot so that the robot passes through the end point beacon at a second preset target angle. Specifically, even if the robot moves in the direction that has been set and recognizes the end point beacon, the robot may have a deviation in the moving direction of the robot due to movement error or other reasons during the movement process. The position of the robot cannot be completely fixed when recognizing the end point beacon, so that the current position of the robot is uncertain. When the position of the robot cannot be determined, the robot cannot directly enter the target working area through the end point beacon. When the robot enters the target working area, the moving direction or moving path may be completely wrong and the robot cannot perform the task corresponding to the target working area. Therefore, after recognizing the end point beacon, it is also necessary to confirm the current positional relationship between the robot and the end point beacon according to the fourth pattern information on the end point beacon. For example, the direction indicated by the end beacon for the robot to pass through the end beacon should be directly in front of the end beacon reference point, such as the zero degree direction. However, at this time, there is a slight angle between the robot's moving direction and the direction indicated by the end beacon. In this case, the robot's moving direction needs to be adjusted so that the robot's moving direction is consistent with the direction indicated by the end beacon. At the same time, the robot's moving path needs to be adjusted when necessary so that the robot passes through the end beacon and enters the target working area during the movement. The robot passing through the end beacon includes but is not limited to the robot body passing through the end beacon.

[0055] Optionally, the fourth pattern information includes a third area and a fourth area with different patterns; the obtaining of the positional relationship between the robot and the destination beacon according to the fourth pattern information set on the destination beacon includes: obtaining the boundary line between the third area and the fourth area, and obtaining the initial angle deviation of the robot relative to the destination beacon according to the current moving direction of the robot and the boundary line; respectively obtaining the positional relationship between the third area and the fourth area and the robot, so as to confirm the final angle deviation of the robot relative to the destination beacon according to the obtained positional relationship and the initial angle deviation. Specifically, in the process of identifying the positional relationship between the robot and the destination beacon, the distance between the robot and the destination beacon and the angle deviation between the current moving direction of the robot and the direction indicated by the destination beacon can be obtained respectively. Among them, in a specific embodiment, the angle deviation can be obtained according to the angle between the boundary line between the third area and the fourth area and the moving direction of the robot in the third pattern information. Figure 5As shown, multiple recognition angles of the visual beacon during the movement of the robot are given. Based on the recognition angle, it includes but is not limited to the direction of movement of the robot perpendicular to the dividing line as the indication direction of the end point beacon. When the moving direction of the robot is not perpendicular to the dividing line, it can be considered that the moving direction of the robot does not correspond to the indication direction of the end point beacon, and the moving direction of the robot needs to be adjusted. In the specific adjustment process, it includes but is not limited to obtaining the angle deviation, adjusting the moving direction of the robot according to the angle deviation, so that the moving direction of the robot is perpendicular to the dividing line. In addition, in the process of adjusting the moving direction of the robot, there may be two relative moving directions perpendicular to the dividing line. That is, the initial angle deviation of the robot relative to the end point beacon is not accurate, and it is also necessary to confirm the positional relationship between the third area and the fourth area and the robot to obtain the final angle deviation of the robot's moving direction relative to the end point beacon. For example, when the third area is close to the robot, the moving direction of the robot perpendicular to the dividing line is defined as the indication direction of the end point beacon. When the fourth area is close to the robot, even if the robot's moving direction is perpendicular to the dividing line, the robot's moving direction is still wrong. At this time, it is necessary to adjust 180 degrees so that the robot's moving direction when it is close to the third area corresponds to the indicated direction of the end beacon. In another embodiment, when the robot's moving direction is parallel to the dividing line, there are still two relative moving directions, which can be confirmed multiple times during the adjustment process. It can also be determined by the positional relationship between the third area and the fourth area and the robot. For example, the angle deviation when the third area is on the left side of the robot's moving direction is the final angle deviation. When the third area is on the right side of the robot's moving direction, 360 degrees minus the angle deviation is required to be the final deviation of the robot's moving direction, and the direction is adjusted according to this angle.

[0056] Among them, the boundary lines of different regions can be obtained according to the pattern information by using the currently available visual recognition technology. Similarly, it includes but is not limited to identifying the relationship between different regions and the current position of the robot based on the visual recognition technology.

[0057] like Figure 6 As shown, in the robot cross-area control method of the embodiment of the present invention, when an intermediate beacon is provided between the current working area and the target working area, the method further includes: S11, sequentially identifying the intermediate beacons according to the visual detection information during the movement of the robot, adjusting the movement direction of the robot according to the intermediate beacons, and executing the step S2. That is, in some long-distance cross-area processes, for example, Figure 7As shown, if there is a relatively complex path environment between the current working area 110 and the target working area 120, one or more intermediate beacons 230 can be set on the intermediate path, so that during the movement of the robot, each time after identifying the intermediate beacon 230, the robot adjusts the movement direction of the robot according to the intermediate beacon 230. The intermediate beacon 230 can be similar to the starting beacon 210 or the end beacon 220, and the corresponding pattern information is set to obtain the deviation between the current moving path of the robot and the direction indicated by the intermediate beacon 230. The process of adjusting the robot according to the image information can refer to the adjustment process of the starting beacon or the end beacon above. It will not be repeated here.

[0058] Optionally, in the robot cross-area control method of the embodiment of the present invention, it further includes: obtaining an intermediate working area corresponding to the current working area and the target working area, obtaining the intermediate beacon according to the starting beacon and the ending beacon corresponding to the intermediate working area, and allowing the robot to sequentially pass through the ending beacon and the starting beacon corresponding to the intermediate working area. Figure 8 As shown, if there is an intermediate working area 130 between the current working area 110 and the target working area 120, the starting beacon 210 and the ending beacon 220 corresponding to the intermediate working area 130 can be used as intermediate beacons for crossing the current working area 110 and the target working area 120. During the movement of the robot, after the robot leaves the current working area 110, it first passes through the ending beacon 220 corresponding to the intermediate working area 130 to enter the intermediate working area 130, and then passes through the starting beacon 210 of the intermediate working area 130 to leave the intermediate working area 130, until it enters the target working area 120 through the ending beacon 220 of the target working area 120, completing the final crossing.

[0059] In addition, the robot cross-zone control device of the present invention has the function of implementing the corresponding steps executed in the above method. Each function can be implemented by hardware, or by hardware executing corresponding software. The corresponding hardware or software includes one or more modules corresponding to the above functions. That is, the steps in the above method are respectively executed by one or more modules. The specific coordination operations between the modules can refer to the specific process of the above method, which will not be repeated here.

[0060] In addition, a visual beacon of the present invention can be applied to the robot cross-zone control method as described above; the visual beacon includes: first visual information for the working area corresponding to the robot; and second visual information for indicating the corresponding moving direction of the robot. Figure 3As shown, in one embodiment, the pattern setting area Q1 of the visual beacon includes an area for displaying different pattern information, and the first visual information and the second visual information are respectively obtained according to the pattern information displayed in the corresponding area, and the corresponding working area of ​​the robot is defined by the first visual information. It can be understood that a corresponding visual beacon is set in each working area to identify the working area by the visual beacon or to identify the corresponding working area according to the visual beacon. For example, according to the first visual information, it is confirmed whether the working area is the starting working area or the target working area, and it can be confirmed whether the visual beacon is the starting beacon or the end beacon. In the process of identifying the visual beacon, the moving direction of the robot is obtained based on the second visual information, so that the machine moves according to the corresponding moving direction. The specific moving direction may include the direction in which the robot enters or leaves the working area. At the same time, the work of the robot moves according to the visual beacon, which is equivalent to limiting the position of the robot entering or leaving the working area by moving the beacon body.

[0061] Optionally, in the visual beacon of the present invention, the visual beacon includes a first visual area and a second visual area with different patterns; the visual beacon forms the first visual information through the pattern information of the first visual area, and forms the second visual information through the boundary line between the first visual area and the second visual area. Figure 3 As shown, the pattern setting area Q1 of the visual beacon includes two areas for displaying different pattern information, namely the first visual area and the second visual area. Different first visual information can be formed by different pattern information set in the first visual area. For example, the starting beacon is determined by the first pattern information, and the end beacon is determined by the second pattern information. In a specific embodiment, Figure 4 Different first visual information can be formed by setting different patterns, squares, stripes, curves, etc. in the pattern setting area of ​​the visual beacon. In addition, the angle deviation between the robot and the visual beacon is obtained by the angle between the boundary line between the first visual area and the second visual area and the moving direction of the robot, that is, the current position relationship between the robot and the visual beacon is obtained. Figure 5As shown, multiple recognition angles of the visual beacon during the movement of the robot are given. In the angle recognition process, the angle between the dividing line and the moving direction of the robot is obtained to obtain the angle deviation. In a specific embodiment, it includes but is not limited to the moving direction of the robot perpendicular to the dividing line as the indication direction of the visual beacon. Based on the recognition angle, when the moving direction of the robot is not perpendicular to the dividing line, it can be considered that the moving direction of the robot does not correspond to the indication direction of the visual beacon, and the moving direction of the robot needs to be adjusted. In the specific adjustment process, it includes but is not limited to obtaining the angle deviation, and adjusting the moving direction of the robot according to the angle deviation so that the moving direction of the robot is perpendicular to the dividing line. In addition, in the process of adjusting the moving direction of the robot, there may be two relative moving directions perpendicular to the dividing line. That is, the initial angle deviation of the robot relative to the visual beacon is not accurate. In addition, it is necessary to confirm the positional relationship between the first visual area and the second visual area and the robot to obtain the final angle deviation of the moving direction of the robot relative to the visual beacon. For example, when the first visual area is close to the robot, the moving direction of the robot perpendicular to the dividing line is defined as the indication direction of the end beacon. When the second visual area is close to the robot, even if the moving direction of the robot is perpendicular to the dividing line, there is still an error in the moving direction of the robot. At this time, it is necessary to adjust 180 degrees so that the moving direction of the robot when it is close to the first visual area corresponds to the indicated direction of the end beacon. In another embodiment, when the moving direction of the robot is parallel to the dividing line, there are still two relative moving directions, which can be confirmed multiple times during the adjustment process. It can also be determined by the positional relationship between the first visual area and the second visual area and the robot. For example, the angle deviation when the first visual area is on the left side of the moving direction of the robot is the final angle deviation. When the first visual area is on the right side of the moving direction of the robot, 360 degrees minus the angle deviation is required to be the final deviation of the moving direction of the robot, and the direction is adjusted according to this angle.

[0062] In addition, a robot of the present invention may further include a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement any of the above methods. Specifically, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program.

[0063] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A robot cross-area control method based on visual beacons, characterized in that: The method comprises the following steps: S1. When receiving a cross-area instruction, obtain a starting beacon corresponding to the current working area according to visual detection information, and drive the robot to start moving according to the starting beacon; wherein the starting beacon is used to indicate the position and direction of the robot leaving the current working area; S2. During the movement of the robot, an end point beacon corresponding to a target working area is obtained according to visual detection information, and the target working area is entered according to the end point beacon; wherein the end point beacon is used to indicate the position and direction of the robot entering the target working area.

2. The robot cross-zone control method according to claim 1, characterized in that: The starting beacon is provided with first pattern information corresponding to the current working area, and obtaining the starting beacon corresponding to the current working area according to the visual detection information includes: obtaining the starting beacon corresponding to the current working area according to the first pattern information; and / or The target beacon is provided with second pattern information corresponding to the target working area, and acquiring the endpoint beacon corresponding to the target working area according to the visual detection information includes: acquiring the endpoint beacon corresponding to the target working area according to the second pattern information.

3. The robot cross-zone control method according to claim 1, characterized in that: The step of driving the robot to start moving according to the start beacon includes: The positional relationship between the robot and the starting beacon is acquired according to the third pattern information set on the starting beacon, and the robot is adjusted so that the robot passes through the starting beacon at a preset target angle.

4. The robot cross-zone control method according to claim 1, characterized in that: The step of entering the target working area according to the endpoint beacon includes: The positional relationship between the robot and the endpoint beacon is acquired according to fourth pattern information set on the endpoint beacon, and the robot is adjusted so that the robot passes through the endpoint beacon at a second preset target angle.

5. The robot cross-zone control method according to claim 3, characterized in that: The third pattern information includes a first area and a second area having different patterns; The step of obtaining the positional relationship between the robot and the starting beacon according to the third pattern information set on the starting beacon includes: Acquire a boundary line between the first area and the second area, and acquire an initial angle deviation of the robot relative to the starting beacon according to the current moving direction of the robot and the boundary line; The positional relationships between the first area and the second area and the robot are respectively acquired, so as to confirm a final angular deviation of the robot relative to the starting beacon according to the acquired positional relationship and the initial angular deviation.

6. The robot cross-zone control method according to claim 4, characterized in that: The fourth pattern information includes a third area and a fourth area having different patterns; The step of obtaining the positional relationship between the robot and the endpoint beacon according to the fourth pattern information set on the endpoint beacon includes: Acquire a boundary line between the third area and the fourth area, and acquire an initial angle deviation of the robot relative to the end point beacon according to the current moving direction of the robot and the boundary line; The positional relationships between the third area and the fourth area and the robot are respectively acquired, so as to confirm a final angular deviation of the robot relative to the end point beacon according to the acquired positional relationships and the initial angular deviation.

7. The robot cross-zone control method according to claim 1, characterized in that: When an intermediate beacon is provided between the current working area and the target working area, the method further includes: S11. During the movement of the robot, the intermediate beacons are identified in sequence according to the visual detection information, so as to adjust the movement direction of the robot according to the intermediate beacons, and the step S2 is executed.

8. The robot cross-zone control method according to claim 7, characterized in that: The method further comprises: An intermediate working area corresponding to the current working area and the target working area is obtained, and the intermediate beacon is obtained according to the starting beacon and the ending beacon corresponding to the intermediate working area, so that the robot passes through the ending beacon and the starting beacon corresponding to the intermediate working area in sequence.

9. A robot cross-zone control device, characterized in that: The robot cross-zone control device includes: a module for executing the method according to any one of claims 1 to 8.

10. A robot, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program to implement the method according to any one of claims 1 to 8.

11. A visual beacon, characterized in that: The visual beacon comprises: First visual information for indicating a working area corresponding to the robot; The second visual information is used to indicate the corresponding moving direction of the robot.

12. The visual beacon according to claim 11, characterized in that The visual beacon includes a first visual area and a second visual area provided with different patterns; The visual beacon forms the first visual information through pattern information of the first visual area, and forms the second visual information through a boundary line between the first visual area and the second visual area.

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